Extended Boussinesq equations for rapidly varying topography

We developed a new Boussinesq-type model which extends the equations of Madsen and Sørensen [1992. A new form of the Boussinesq equations with improved linear dispersion characteristics. Part 2. A slowly varying bathymetry. Coastal Engineering 18, 183-204.] by including both bottom curvature and squared bottom slope terms. Numerical experiments were conducted for wave reflection from the Booij's [1983. A note on the accuracy of the mild-slope equation. Coastal Engineering 7, 191-203] planar slope with different wave frequencies using several types of Boussinesq equations. Madsen and Sørensen's model results are accurate in the whole slopes in shallow waters, but inaccurate in intermediate water depths. Nwogu's [1993. Alternative form of Boussinesq equation for nearshore wave propagation. Journal of Waterway, Port, Coastal and Ocean Engineering 119, 618-638] model results are accurate up to 1:1 (V:H) slope, but significantly inaccurate for steep slopes. The present model results are accurate up to the slope of 1:1, but somewhat inaccurate for very steep slopes. Further, numerical experiments were conducted for wave reflections from a ripple patch and also a Gaussian-shaped trench. For the two cases, the results of Nwogu's model and the present model are accurate, because these models include the bottom curvature term which is important for the cases. However, Madsen and Sørensen's model results are inaccurate, because this model neglects the bottom curvature term.     

Finite volume scheme for the solution of 2D extended Boussinesq equations in the surf zone

In this paper, a hybrid finite volume-finite difference scheme is applied to study surf zone dynamics. The numerical model solves the 2DH extended Boussinesq equations proposed by Madsen and Sørensen (1992) where nonlinear and dispersive effects are both relevant whereas it solves NSWE equations where nonlinearity prevails. The shock-capturing features of the finite volume method allow an intrinsic representation of wave breaking and runup; therefore no empirical (calibration) parameters are necessary. Comparison with laboratory measurements demonstrates that the proposed model can accurately predict wave height decay and mean water level setup, for both regular and solitary wave breaking on a sloping beach. The model is also applied to reproduce two-dimensional wave transformation and breaking over a submerged circular shoal, showing good agreement with experimental data.     

A Numerical Model for Nonlinear Wave Propagation on Non-uniform Current

On the basis of the new type Boussinesq equations (Madsen et al.,2002),a set of equations explicitly including the effects of currents on waves are derived.A numerical implementation of the present equations in one dimension is described.The numerical model is tested for wave propagation in a wave flume of uniform depth with current present.The present numerical results are compared with those of other researchers.It is validated that the present numerical model can reasonably reflect the nonlinear influences of currents on waves.Moreover,the effects of inputting different incident boundary conditions on the calculated results are studied.     

Surf zone dynamics simulated by a Boussinesq type model. Part II: surf beat and swash oscillations for wave groups and irregular waves

This is the second of three papers on the modelling of various types of surf zone phenomena. In the first paper the general model was described and it was applied to study cross-shore motion of regular waves in the surf zone. In this paper, part II, we consider the cross-shore motion of wave groups and irregular waves with emphasis on shoaling, breaking and runup as well as the generation of surf beats. These phenomena are investigated numerically by using a time-domain Boussinesq type model, which resolves the primary wave motion as well as the long waves. As compared with the classical Boussinesq equations, the equations adopted here allow for improved linear dispersion characteristics and wave breaking is modelled by using a roller concept for spilling breakers. The swash zone is included by incorporating a moving shoreline boundary condition and radiation of short and long period waves from the offshore boundary is allowed by the use of absorbing sponge layers. Mutual interaction between short waves and long waves is inherent in the model. This allows, for example, for a general exchange of energy between triads rather than a simple one-way forcing of bound waves and for a substantial modification of bore celerities in the swash zone due to the presence of long waves. The model study is based mainly on incident bichromatic wave groups considering a range of mean frequencies, group frequencies, modulation rates, sea bed slopes and surf similarity parameters. Additionally, two cases of incident irregular waves are studied. The model results presented include transformation of surface elevations during shoaling, breaking and runup and the resulting shoreline oscillations. The low frequency motion induced by the primary-wave groups is determined at the shoreline and outside the surf zone by low-pass filtering and subsequent division into incident bound and free components and reflected free components. The model results are compared with laboratory experiments from the literature and the agreement is generally found to be very good. Finally the paper includes special details from the breaker model: time and space trajectories of surface rollers revealing the breakpoint oscillation and the speed of bores; envelopes of low-pass filtered radiation stress and surface elevation; sensitivity of surf beat to group frequency, modulation rate and bottom slope is investigated. Part III of this work (Sørensen et al., 1998) presents nearshore circulations induced by the breaking of unidirectional and multi-directional waves.     

A phase-averaged Boussinesq model with effective description of carrier wave group and associated long wave evolution

From the phase-resolving improved Boussinesq equations (Beji and Nadaoka, Ocean Engineering 23 (1996) 691), a phase-averaged Boussinesq model for water waves is derived by more effectively describing carrier wave groups and accompanying long wave evolution with less CPU time. Linear shoaling characteristics of carrier wave equations are investigated and found to agree exactly with the analytical expression obtained from the constancy of energy flux for the improved Boussinesq equations themselves, showing that the present model equations are the results of a consistent derivation procedure regarding energy considerations. Numerical simulations of the derived equations for the single wave group and narrow-banded random waves show the validity of the present model and its high performance, especially on the CPU time.     

Bragg resonant reflection of carrier waves composing wave groups

Numerical analyses for the Bragg resonant reflection of carrier waves associated long waves due to sinusoidally varying seabeds are performed by using a set of coupled ordinary differential equations derived from the Boussinesq equations. The Boussinesq equations are firstly approximated with the Fourier decomposition. The coupled governing equations are then derived and used to simulate evolution of both short and long wave components. It is also found that wave groups are generated by two carrier waves with slightly different frequencies. The wave energy of the initial wave components is transferred to other harmonic components during propagation over a long distance. Evolution and reflection of both short and long waves were largely affected by nonlinearity.     

A note on linear dispersion and shoaling properties in extended Boussinesq equations

A set of optimum parameter α is obtained to evaluate the linear dispersion and shoaling properties in the extended Boussinesq equations of [Madsen and Sorensen, 1992 and Nwogu, 1993], and [Chen and Liu, 1995]. Optimum α values are determined to produce minimal errors in each wave property of phase velocity, group velocity, or shoaling coefficient relative to the analytical one given by the Stokes wave theory. Comparisons are made of the percent errors in phase velocity, group velocity, and shoaling coefficient produced by the Boussinesq equations with a different set of optimum α values. The case with a fixed value of α = −0.4 is also presented in the comparison. The comparisons reveal that the optimum α value tuned for a particular wave property gives in general poor results for other properties. Considering all the properties simultaneously, the fixed value of α = −0.4 may give overall accuracies in phase velocity and shoaling coefficient for all the types of Boussinesq equations selected in this study.     

A new form of generalized Boussinesq equations for varying water depth

A new set of equations of motion for wave propagation in water with varying depth is derived in this study. The equations expressed by the velocity potentials and the wave surface elevations include first-order non-linearity of waves and have the same dispersion characteristic to the extended Boussinesq equations. Compared to the extended Boussinesq equations, the equations have only two unknown scalars and do not contain spatial derivatives with an order higher than 2. The wave equations are solved by a finite element method. Fourth-order predictor–corrector method is applied in the time integration and a damping layer is applied at the open boundary for absorbing the outgoing waves. The model is applied to several examples of wave propagation in variable water depth. The computational results are compared with experimental data and other numerical results available in literature. The comparison demonstrates that the new form of the equations is capable of calculating wave transformation from relative deep water to shallow water.     

Generalized boussinesq model for periodic non-linear shallow-water waves

This paper presents the development of a generalized Boussinesq (gB) model for the periodic non-linear shallow-water waves. An incident cnoidal wave solution for the gB model is derived and applied to the wave simulation. A set of radiation boundary conditions is also established to transmit effectively the cnoidal waves out of the computational domain. The classical solutions of the second-order cnoidal waves are discussed within the content of the KdV equation and the generalized Boussinesq equations. An Euler's predictor-corrector finite-difference algorithm is used for numerical computation. The propagation of normally incident cnoidal waves in a channel is studied. The simulated wave profiles agree well with the analytical results. The temporal and spatial evolution of an obliquely incident cnoidal wave is also modelled. The phenomenon of Mach reflection is discussed.     

Two sets of higher-order Boussinesq-type equations for water waves

Based on the classical Boussinesq model by Peregrine [Peregrine, D.H., 1967. Long waves on a beach. J. Fluid Mech. 27 (4), 815–827], two parameters are introduced to improve dispersion and linear shoaling characteristics. The higher order non-linear terms are added to the modified Boussinesq equations. The non-linearity of the Boussinesq model is analyzed. A parameter related to h/L₀ is used to improve the quadratic transfer function in relatively deep water. Since the dispersion characteristic of the modified Boussinesq equations with two parameters is only equal to the second-order Padé expansion of the linear dispersion relation, further improvement is done by introducing a new velocity vector to replace the depth-averaged one in the modified Boussinesq equations. The dispersion characteristic of the further modified Boussinesq equations is accurate to the fourth-order Padé approximation of the linear dispersion relation. Compared to the modified Boussinesq equations, the accuracy of quadratic transfer functions is improved and the shoaling characteristic of the equations has higher accuracy from shallow water to deep water.     

Essential properties of Boussinesq equations for internal and surface waves in a two-fluid system

Boussinesq equations describing motions of internal waves in a two-fluid system with the presence of free surface are theoretically derived, and the associated essential properties are examined in this study. Eliminating the dependence on the vertical coordinate from all variables, four equations constitute the Boussinesq model with two flexible parameters, z_u and z_l, which indicate the specific elevations, respectively, in the upper and lower fluids. Similar to the Boussinesq model for a single-layer fluid, z_u and z_l are determined by matching the linear dispersion relation with Lamb's solution. This determines the optimal model. In the analysis stage, this problem is classified into two cases, the thicker-upper-layer case and the thicker-lower-case case, to avoid the possible divergence of wave properties as the thickness ratio grows. Since there exist two modes of motions that may be excited, cases of both modes are separately analyzed. Linear characteristics including the amplitude ratios and normalized particle velocities are analyzed. Second-order harmonic waves are examined to validate nonlinear behaviors of present model. Results of linear and nonlinear investigations show that the present model indeed extends the applicable range of traditional Boussinesq equations.     

A Boussinesq model for simulating wave and current interaction

A new formulation of a pair of Boussinesq equations for three-dimensional nonlinear dispersive shallow-water waves is presented. This set of model equations permits spatial and temporal variations of the bottom topography and the presence of uniform currents. The newly derived equations are used to simulate the propagation of cnoidal waves and their interactions with a uniform current in a wave channel. The modified Euler's predictor-corrector algorithm for time advancing and a central difference representation for the space derivatives are applied to the computation of the basic equations. A set of open boundary conditions is developed to effectively transmit the cnoidal waves out of the computational domain. It is found that, as expected, the wave length decreases with an opposing current and increases with a following current. The wave height increases in magnitude with an opposing current and decreases with a following current. The Mach reflection due to oblique cnoidal waves propagating into an open channel with an opposing current is also investigated. Due to the opposing current, the wave patterns are compressed into smaller saddle-like regions in comparison with the Mach reflection without current effect.     

Numerical simulation for the two-dimensional nonlinear shallow water waves

This study deals with the general numerical model to simulate the two-dimensional tidal flow, flooding wave (long wave) and shallow water waves (short wave). The foundational model is based on nonlinear Boussinesq equations. Numerical method for modelling the short waves is investigated in detail. The forces, such as Coriolis forces, wind stress, atmosphere and bottom friction, are considered. A two-dimensional implicit difference scheme of Boussinesq equations is proposed. The low-reflection outflow open boundary is suggested. By means of this model,both velocity fields of circulation current in a channel with step expansion and the wave diffraction behind a semi-infinite breakwater are computed, and the results are satisfactory.     

Nonlinear refraction-diffraction of surface waves in intermediate and shallow water

A numerical scheme for solving the nonlinear Boussinesq equations is introduced. The numerical model is used to investigate nonlinear refraction-diffraction of surface gravity waves over a semicircular shoal. Results are compared with experimental data (Whalin, 1971) and previous reported numerical results by Liu and Tsay (1984) and Liu, Yoon and Kirby (1985). The present calculations reproduce the earlier results for shallow water waves, but are superior in intermediate water depth.     

Numerical Models of Higher-Order Boussinesq Equations and Comparisons with Laboratory Measurement

Nonlinear water wave propagation passing a submerged shelf is studied experimentally and numerically. The applicability of two different wave propagation models has been investigated. One is higher-order Boussinesq equations derived by Zou (1999) and the other is the classic Boussinesq equations. Physical experiments are conducted, three different front slopes (1:10, 1:5 and 1:2) of the shelf are set up in the experiment and their effects on wave propagation are investigated. Comparisons of numerical results with test data are made, the model of higher-order Boussinesq equations agrees much better with the measurements than the model of the classical Boussinesq equations. The results show that the higher-order Boussinesq equations can also be applied to the steeper slope case although the mild slope assumption is employed in the derivation of the higher order terms of higher order Boussinesq equations.     

Cross-shore mean flow in the surf zone

The seaward mean returnflow or undertow in the surf zone, which compensates for the shoreward mass flux above the wave trough level, is found to be driven by the force imbalance between the wave momentum flux on the one hand and the set-up on the other hand, in qualitative agreement with the model of Dyhr-Nielsen and Sørensen (1970). A model, which quantifies this imbalance, is shown to yield theoretical results in good accordance with experiments when the proper boundary conditions are accounted for.     

Note on conservation equations for nonlinear surface waves

Euler's equations of motion in conjunction with the dynamic boundary condition are manipulated to obtain exact (and approximate) alternative momentum equations for nonlinear irrotational surface waves. The Airy and Boussinesq equations are re-derived as demonstrative examples. A fully nonlinear version of the improved Boussinesq equations is presented as a new application of the proposed equations. Further use of the equations in developing depth-integrated wave models, which are not necessarily restricted to finite depths, is also pointed out.     

Higher order Boussinesq equations

A new form of Boussinesq-type equations accurate to the third order are derived in this paper to improve the linear dispersion and nonlinearity characteristics in deeper water. Fourth spatial derivatives in the third order terms of the equations are transformed into second derivatives and present no difficulty in numerical computations. With the increase in accuracy of the equations, the nonlinear and dispersion characteristics of the equations are of one order of magnitude higher accuracy than those of the classical Boussinesq equations. The equations can serve as a fully nonlinear model for shallow water waves. The shoaling property of the equations is also of high accuracy through shallow water to deep water by introducing an extra source term into the second order continuity equation. An approach to increase the accuracy of the nonlinear characteristics of the new equations is introduced. The expression for the vertical distribution of the horizontal velocities is a fourth order polynomial.     

One-dimensional numerical models of higher-order Boussinesq equations with high dispersion accuracy

Abstract-Nonlinear water wave propagation passing a submerged shelf is studied experimentally andnumerically. The applicability of the wave propagation model of higher-order Boussinesq equations de-rived by Zou(2000, Ocean Engneering, 27, 557～575) is investigated. Physical experiments areconducted; three different front slopes (1:10, 1:5 and 1:2) of the shelf are set-up in the experimentand their effects on the wave propagation are investigated. Comparisons of the numerical results withtest data are made and the higher-order Boussinesq equations agree well with the measurements since thedispersion of the model is of high accuracy. The numerical results show that the good results can also beobtained for the steep-slope cases although the mild-slope assumption is employed in the derivation of thehigher-order terms in the higher-order Boussinesq equations.     

具有精确色散性的非线性波浪水平二维数学模型

建立具有色散性的水平二维非线性波浪方程,方程的非线性近似到了三阶。方程以波面升高和自由表面速度势表达的微分-积分型数学方程,给出方程的数值求解方法和算例,对方程积分项的处理给出了计算方法。计算结果与Boussinesq方程模型和缓坡方程模型的对应计算结果进行了对比。